Design Of Robotic Plasma Cutting Workstation For Removing Slag From Slabs And Research On Singularity

With the rapid development of industrial technology and the application of industrial robots in more and more fields,the domestic demand for industrial intelligence is increasing.Iron and steel industry as the focus of the national industry,its intelligent degree is the most directly reflect the level of industrial intelligent,get rid of the slab burrs as an important part of steel processing process,its intelligent degree of high and low for the overall industrial level has a great influence,so the design of an industrial robot as the core,to the slab burrs workstation using plasma cutting equipment has very important practical value.In workstation motion trajectory planning of robot cutting at the same time,robot kinematics singularity is also a common problem,because when the robot is in the singular configuration,there will be a operational freedom reduce mutations or joint movement speed,movement lost stability,and to control the movement of each joint failure,etc.,so the research of robot singularity avoidance algorithm has very important practical significance.This paper aims to establish a complete robot plasma deburr workstation and study the strange problems in the robot's motion trajectory.By consulting relevant literatures and comparing the project materials during the internship,the following work is done:Starting from the construction of the entire workstation system framework,the specific machining requirements of the designed workstation are determined,that is,the machining path of the robot is determined.nd then to meet the identified workstation processing requirements for the guidelines,the practice of reference are exposed to the robot cutting project information,from the current mainstream of two kinds of robot workstation processing layout(with robot guide of single robot processing layout and the robot at the same time processing layout),choose one of the most suitable workstation layout in this paper,the workstation processing requirements;Then,the workflow of the workstation is further designed on the basis of the determined workstation layout,and the PLC system of the workstation is designed by means of RobotStudio software,including the design of workstation I/O signal,the establishment of the connection between each signal and the attributes of each component,and the design of the logical relationship between each component of the workstation.fter the overall system framework of the workstation has been established,the model of the main components in the workstation is determined according to the processing requirements and the relevant product manuals,including the model selection of industrial robot,plasma cutting equipment and photoelectric sensor.Finally,the robot motion trajectory program is written in the RobotStudio software,and the designed workstation is simulated for the complete machining process.Simulation results verifythe feasibility of the designed workstation.When robot cutting motion trajectory is written in RobotStudio software,as RobotStudio is a closed-source software,it is impossible to understand what kind of avoidance algorithm is adopted in the software system to make the robot pass through the exotic region when the robot encounters strange problems.Therefore,this paper will start from a mathematical point of view,through Matlab software to write the algorithm and verify the effectiveness of the algorithm.Firstly,the kinematics model and d-h coordinate system are established.Then the kinematic singularity of the robot is analyzed by the method of singular separation,and an improved exponential damping reciprocal singularity avoidance algorithm is proposed.Finally,the validity of the algorithm is verified by Matlab's simulation.